Elhawary H, Zivanovic A, Davies B, Lampérth M
Mechatronics in Medicine Group, Department of Mechanical Engineering, Imperial College London, London, UK.
Proc Inst Mech Eng H. 2006 Apr;220(3):413-24. doi: 10.1243/09544119JEIM73.
Developments in magnetic resonance imaging (MRI), coupled with parallel progress in the field of computer-assisted surgery, mean that an ideal environment has been created for the development of MRI-compatible robotic systems and manipulators, capable of enhancing many types of surgical procedure. However, MRI does impose severe restrictions on mechatronic devices to be used in or around the scanners. In this article a review of the developments in the field of MRI-compatible surgical manipulators over the last decade is presented. The manipulators developed make use of different methods of actuation, but they can be reduced to four main groups: actuation transmitted through hydraulics, pneumatic actuators, ultrasonic motors based on the piezoceramic principle and remote manual actuation. Progress has been made concerning material selection, position sensing, and different actuation techniques, and design strategies have been implemented to overcome the multiple restrictions imposed by the MRI environment. Most systems lack the clinical validation needed to continue on to commercial products.
磁共振成像（MRI）技术的发展，再加上计算机辅助手术领域的同步进步，意味着已经为开发与MRI兼容的机器人系统和操纵器创造了理想的环境，这些系统和操纵器能够改进多种外科手术程序。然而，MRI确实对在扫描仪内部或周围使用的机电设备施加了严格的限制。本文对过去十年中与MRI兼容的手术操纵器领域的发展进行了综述。所开发的操纵器采用了不同的驱动方法，但可归纳为四大类：通过液压传动的驱动、气动执行器、基于压电陶瓷原理的超声波电机以及远程手动驱动。在材料选择、位置传感和不同的驱动技术方面已经取得了进展，并且已经实施了设计策略来克服MRI环境带来的多重限制。大多数系统缺乏进入商业产品阶段所需的临床验证。
